public static void RefineDetectedMarkers(Cv.Core.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_refineDetectedMarkers8(image.cppPtr, board.cppPtr, detectedCorners.cppPtr, detectedIds.cppPtr, rejectedCorners.cppPtr, exception.cppPtr);
exception.Check();
}
public Cv.Core.Vec4i At(uint pos)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
Cv.Core.Vec4i element = new Cv.Core.Vec4i(au_std_vectorVec4i_at(cppPtr, pos, exception.cppPtr), DeleteResponsibility.False);
exception.Check();
return(element);
}
static public GridBoard Create(int markersX, int markersY, float markerLength, float markerSeparation, Dictionary dictionary)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr gridBoardPtr = au_GridBoard_create2(markersX, markersY, markerLength, markerSeparation, dictionary.cppPtr, exception.cppPtr);
exception.Check();
return(new GridBoard(gridBoardPtr));
}
public static Dictionary GenerateCustomDictionary(int nMarkers, int markerSize, Dictionary baseDictionary)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr dictionaryPtr = au_generateCustomDictionary2(nMarkers, markerSize, baseDictionary.cppPtr, exception.cppPtr);
exception.Check();
return(new Dictionary(dictionaryPtr));
}
static public Cv.Core.Mat GetBitsFromByteList(Cv.Core.Mat byteList, int markerSiz)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
Cv.Core.Mat bits = new Cv.Core.Mat(au_Dictionary_getBitsFromByteList(byteList.cppPtr, markerSiz, exception.cppPtr));
exception.Check();
return(bits);
}
public static void DrawDetectedMarkers(Cv.Core.Mat image, Std.VectorVectorPoint2f corners, Color borderColor)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
Cv.Core.Scalar borderColorScalar = borderColor;
au_drawDetectedMarkers4(image.cppPtr, corners.cppPtr, borderColorScalar.cppPtr, exception.cppPtr);
exception.Check();
}
public bool Identify(Dictionary dictionary, Cv.Core.Mat onlyBits, out int idx, out int rotation, double maxCorrectionRate)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
bool result = au_Dictionary_identify(cppPtr, onlyBits.cppPtr, out idx, out rotation, maxCorrectionRate, exception.cppPtr);
exception.Check();
return(result);
}
public int At(uint pos)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
int element = au_std_vectorInt_at(cppPtr, pos, exception.cppPtr);
exception.Check();
return(element);
}
public VectorPoint2f At(uint pos)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
VectorPoint2f element = new VectorPoint2f(au_std_vectorVectorPoint2f_at(cppPtr, pos, exception.cppPtr), DeleteResponsibility.False);
exception.Check();
return(element);
}
public static void RefineDetectedMarkers(Cv.Core.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, float minRepDistance)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_refineDetectedMarkers5(image.cppPtr, board.cppPtr, detectedCorners.cppPtr, detectedIds.cppPtr, rejectedCorners.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, minRepDistance, exception.cppPtr);
exception.Check();
}
public int GetDistanceToId(Dictionary dictionary, Cv.Core.Mat bits, int id)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
int distanceToId = au_Dictionary_getDistanceToId2(cppPtr, bits.cppPtr, id, exception.cppPtr);
exception.Check();
return(distanceToId);
}
static public CharucoBoard Create(int squaresX, int squaresY, float squareLength, float markerLength, Dictionary dictionary)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr charucoBoardPtr = au_CharucoBoard_create(squaresX, squaresY, squareLength, markerLength, dictionary.cppPtr,
exception.cppPtr);
exception.Check();
return(new CharucoBoard(charucoBoardPtr));
}
public static void RefineDetectedMarkers(Cv.Core.Mat image, Board board, Std.VectorVectorPoint2f detectedCorners, Std.VectorInt detectedIds,
Std.VectorVectorPoint2f rejectedCorners, Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, float minRepDistance, float errorCorrectionRate,
bool checkAllOrders, Std.VectorInt recoveredIdxs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_refineDetectedMarkers2(image.cppPtr, board.cppPtr, detectedCorners.cppPtr, detectedIds.cppPtr, rejectedCorners.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, minRepDistance, errorCorrectionRate, checkAllOrders, recoveredIdxs.cppPtr, exception.cppPtr);
exception.Check();
}
public void Draw(Cv.Core.Size outSize, out Cv.Core.Mat img, int marginSize, int borderBits)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr imgPtr;
au_CharucoBoard_draw1(cppPtr, outSize.cppPtr, out imgPtr, marginSize, borderBits, exception.cppPtr);
img = new Cv.Core.Mat(imgPtr);
exception.Check();
}
public void Draw(Cv.Core.Size outSize, out Cv.Core.Mat img, int marginSize)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr imgPtr;
au_GridBoard_draw2(cppPtr, outSize.cppPtr, out imgPtr, marginSize, exception.cppPtr);
img = new Cv.Core.Mat(imgPtr);
exception.Check();
}
public void Draw(Cv.Core.Size outSize, out Cv.Core.Mat img)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr imgPtr;
au_CharucoBoard_draw3(cppPtr, outSize.cppPtr, out imgPtr, exception.cppPtr);
img = new Cv.Core.Mat(imgPtr);
exception.Check();
}
public static void DrawCharucoDiamond(Dictionary dictionary, Cv.Core.Vec4i ids, int squareLength, int markerLength, out Cv.Core.Mat image)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr imagePtr;
au_drawCharucoDiamond3(dictionary.cppPtr, ids.cppPtr, squareLength, markerLength, out imagePtr, exception.cppPtr);
image = new Cv.Core.Mat(imagePtr);
exception.Check();
}
public void DrawMarker(int id, int sidePixels, out Cv.Core.Mat img, int borderBits)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr imgPtr;
au_Dictionary_drawMarker(cppPtr, id, sidePixels, out imgPtr, borderBits, exception.cppPtr);
img = new Cv.Core.Mat(imgPtr);
exception.Check();
}
public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board, Cv.Core.Size imageSize,
Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
double reProjectionError = au_calibrateCameraCharuco5(charucoCorners.cppPtr, charucoIds.cppPtr, board.cppPtr, imageSize.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, exception.cppPtr);
exception.Check();
return(reProjectionError);
}
public static void DetectMarkers(Cv.Core.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr cornersPtr, idsPtr;
au_detectMarkers3(image.cppPtr, dictionary.cppPtr, out cornersPtr, out idsPtr, exception.cppPtr);
corners = new Std.VectorVectorPoint2f(cornersPtr);
ids = new Std.VectorInt(idsPtr);
exception.Check();
}
public static void EstimatePoseSingleMarkers(Std.VectorVectorPoint2f corners, float markerLength, Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs,
out Std.VectorVec3d rvecs, out Std.VectorVec3d tvecs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr rvecsPtr, tvecsPtr;
au_estimatePoseSingleMarkers(corners.cppPtr, markerLength, cameraMatrix.cppPtr, distCoeffs.cppPtr, out rvecsPtr, out tvecsPtr, exception.cppPtr);
rvecs = new Std.VectorVec3d(rvecsPtr);
tvecs = new Std.VectorVec3d(tvecsPtr);
exception.Check();
}
public static void DetectCharucoDiamond(Cv.Core.Mat image, Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, float squareMarkerLengthRate,
out Std.VectorVectorPoint2f diamondCorners, out Std.VectorVec4i diamondIds)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr diamondCornersPtr, diamondIdsPtr;
au_detectCharucoDiamond3(image.cppPtr, markerCorners.cppPtr, markerIds.cppPtr, squareMarkerLengthRate, out diamondCornersPtr,
out diamondIdsPtr, exception.cppPtr);
diamondCorners = new Std.VectorVectorPoint2f(diamondCornersPtr);
diamondIds = new Std.VectorVec4i(diamondIdsPtr);
exception.Check();
}
public static void DetectMarkers(Cv.Core.Mat image, Dictionary dictionary, out Std.VectorVectorPoint2f corners, out Std.VectorInt ids,
DetectorParameters parameters, out Std.VectorVectorPoint2f rejectedImgPoints)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr cornersPtr, idsPtr, rejectedPtr;
au_detectMarkers1(image.cppPtr, dictionary.cppPtr, out cornersPtr, out idsPtr, parameters.cppPtr, out rejectedPtr, exception.cppPtr);
corners = new Std.VectorVectorPoint2f(cornersPtr);
ids = new Std.VectorInt(idsPtr);
rejectedImgPoints = new Std.VectorVectorPoint2f(rejectedPtr);
exception.Check();
}
public static double CalibrateCameraAruco(Std.VectorVectorPoint2f corners, Std.VectorInt ids, Std.VectorInt counter, Board board, Cv.Core.Size imageSize,
Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, out Std.VectorMat rvecs)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr rvecsPtr;
double reProjectionError = au_calibrateCameraAruco4(corners.cppPtr, ids.cppPtr, counter.cppPtr, board.cppPtr, imageSize.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, out rvecsPtr, exception.cppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
exception.Check();
return(reProjectionError);
}
public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board, Cv.Core.Size imageSize,
Cv.Core.Mat cameraMatrix, Cv.Core.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib3d.Calib flags)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraCharuco2(charucoCorners.cppPtr, charucoIds.cppPtr, board.cppPtr, imageSize.cppPtr, cameraMatrix.cppPtr,
distCoeffs.cppPtr, out rvecsPtr, out tvecsPtr, (int)flags, exception.cppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
public static int InterpolateCornersCharuco(Std.VectorVectorPoint2f markerCorners, Std.VectorInt markerIds, Cv.Core.Mat image, CharucoBoard board,
out Std.VectorPoint2f charucoCorners, out Std.VectorInt charucoIds)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr charucoCornersPtr, charucoIdsPtr;
int interpolateCorners = au_interpolateCornersCharuco3(markerCorners.cppPtr, markerIds.cppPtr, image.cppPtr, board.cppPtr,
out charucoCornersPtr, out charucoIdsPtr, exception.cppPtr);
charucoCorners = new Std.VectorPoint2f(charucoCornersPtr);
charucoIds = new Std.VectorInt(charucoIdsPtr);
exception.Check();
return(interpolateCorners);
}
public static bool EstimatePoseCharucoBoard(Std.VectorPoint2f charucoCorners, Std.VectorInt charucoIds, CharucoBoard board, Cv.Core.Mat cameraMatrix,
Cv.Core.Mat distCoeffs, out Cv.Core.Vec3d rvec, out Cv.Core.Vec3d tvec)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
System.IntPtr rvecPtr, tvecPtr;
bool valid = au_estimatePoseCharucoBoard(charucoCorners.cppPtr, charucoIds.cppPtr, board.cppPtr, cameraMatrix.cppPtr, distCoeffs.cppPtr,
out rvecPtr, out tvecPtr, exception.cppPtr);
rvec = new Cv.Core.Vec3d(rvecPtr);
tvec = new Cv.Core.Vec3d(tvecPtr);
exception.Check();
return(valid);
}
public static void DrawDetectedDiamonds(Cv.Core.Mat image, Std.VectorVectorPoint2f diamondCorners)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedDiamonds3(image.cppPtr, diamondCorners.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedDiamonds(Cv.Core.Mat image, Std.VectorVectorPoint2f diamondCorners, Std.VectorVec4i diamondIds, Cv.Core.Scalar borderColor)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedDiamonds1(image.cppPtr, diamondCorners.cppPtr, diamondIds.cppPtr, borderColor.cppPtr, exception.cppPtr);
exception.Check();
}
public static void DrawDetectedCornersCharuco(Cv.Core.Mat image, Std.VectorPoint2f charucoCorners)
{
Cv.Core.Exception exception = new Cv.Core.Exception();
au_drawDetectedCornersCharuco3(image.cppPtr, charucoCorners.cppPtr, exception.cppPtr);
exception.Check();
}
